Calibration information generation method and device, computer device and readable storage medium

Abstract

The application relates to a calibration information generation method and device, computer equipment and a readable storage medium. The method comprises the following steps: determining the position of a rotating center of a rotating shaft of a laser cutting device in a probe coordinate system and an axial direction vector according to the position of a preset detection point on a standard ball; obtaining component information of a vector from a probe center to a laser focal point of the laser cutting device, a vector from the probe center to a camera center and a vector from the camera center to the laser focal point of the laser cutting device on an X axis, a Y axis and a Z axis respectively; and generating laser cutting device calibration information. The method can realize the calibration of the rotating center of the rotating shaft by using the standard ball, realize the calibration of the laser center by using a visual positioning mode, obtain the offset vector of the laser focal point and the probe center, and improve the calibration efficiency of the device calibration.

Description

Technical Field

[0001] This application relates to the field of equipment calibration technology, and in particular to a calibration information generation method, apparatus, computer equipment, computer-readable storage medium, and computer program product. Background Technology

[0002] Compared to two-dimensional cutting, three-dimensional laser cutting can effectively solve the forming problems of complex workpieces such as three-dimensional curved surfaces and irregular curved surfaces. The high precision, high speed, and high flexibility of three-dimensional lasers are more in line with the development direction of high-end manufacturing and intelligent manufacturing. However, for five-axis machining equipment, it is necessary to calibrate the equipment first. The equipment calibration includes two parts: first, the calibration of the rotation axis center; and second, the calibration of the laser processing center. The calibration accuracy of the equipment directly determines the machining accuracy.

[0003] In traditional techniques, the calibration of the center of the rotating axis relies on past experience, resulting in limited measurement accuracy. Since laser processing is non-contact, the calibration of the laser processing center cannot be performed using a method similar to tool setting on traditional machine tools. Therefore, traditional techniques are not conducive to improving the calibration efficiency of equipment calibration. Summary of the Invention

[0004] Therefore, it is necessary to provide a calibration information generation method, apparatus, computer equipment, computer-readable storage medium, and computer program product that can improve the calibration efficiency of equipment calibration, in order to address the above-mentioned technical problems.

[0005] Firstly, this application provides a method for generating calibration information, including:

[0006] When the standard ball is within the working surface of the laser cutting equipment, and the rotation axis of the laser cutting equipment rotates sequentially by a preset angle, the position information of the rotation center of the laser cutting equipment in the probe coordinate system and the axial direction vector information are determined according to the position information of the preset detection point on the standard ball.

[0007] The component information of the first vector, the second vector, and the third vector on the X-axis of the laser cutting device, the component information of the first vector, the second vector, and the third vector on the Y-axis of the laser cutting device, and the component information of the first vector, the second vector, and the third vector on the Z-axis of the laser cutting device are obtained; the first vector is the vector from the probe center to the laser focus of the laser cutting device; the second vector is the vector from the probe center to the camera center; and the third vector is the vector from the camera center to the laser focus of the laser cutting device.

[0008] Based on the position information of the rotation center of the rotation axis of the laser cutting equipment in the probe coordinate system and the axial direction vector information, the component information of the first vector, the second vector and the third vector on the X-axis of the laser cutting equipment, the component information of the first vector, the second vector and the third vector on the Y-axis of the laser cutting equipment, and the component information of the first vector, the second vector and the third vector on the Z-axis of the laser cutting equipment, calibration information of the laser cutting equipment is generated.

[0009] In one embodiment, obtaining the component information of the first vector, the second vector, and the third vector on the X-axis of the laser cutting device, the component information of the first vector, the second vector, and the third vector on the Y-axis of the laser cutting device, and the component information of the first vector, the second vector, and the third vector on the Z-axis of the laser cutting device includes:

[0010] When a laser marking plate is set on the worktable of the laser cutting equipment in a direction perpendicular to the Z-axis of the laser cutting equipment, the marking height information corresponding to the marking lines on the laser marking plate is obtained; the marking lines are obtained by the laser cutting equipment laser marking the laser marking plate at different Z-axis positions;

[0011] With the camera, probe, and laser emitter of the laser cutting device arranged parallel to the Z-axis, the component information of the first vector, the second vector, and the third vector on the Z-axis is determined according to the marking height information.

[0012] When a marking circle is marked on the laser marking plate, the component information of the first vector, the second vector, and the third vector on the X-axis and the component information of the first vector, the second vector, and the third vector on the Y-axis are determined based on the center position information of the marking circle, the X-axis coordinate of the laser cutting device corresponding to the center position information, and the Y-axis coordinate of the laser cutting device.

[0013] In one embodiment, determining the position information of the rotation center of the laser cutting device in the probe coordinate system and the axial direction vector information based on the position information of the preset detection points on the standard sphere includes:

[0014] The coordinates of the sphere's center are obtained by fitting the position information of the preset detection points on the standard sphere.

[0015] By performing spatial circle fitting on the coordinates of the sphere center, the position information of the rotation center of the rotation axis in the probe coordinate system and the axis direction vector information are obtained.

[0016] In one embodiment, before the step of obtaining the marking height information corresponding to the marking lines on the laser marking plate, the method further includes:

[0017] When the laser spot formed by the laser emitter of the laser cutting equipment on the laser marking plate is minimized, the height information Z0 of the worktable surface of the laser cutting equipment on the Z-axis is obtained.

[0018] When the height of the worktable surface of the laser cutting equipment on the Z-axis differs from the height information Z0 by a preset height difference, the height information of the worktable surface of the laser cutting equipment on the Z-axis is obtained as the marking height information corresponding to the marking line on the laser marking plate.

[0019] When the marking lines on the laser marking plate are clearly imaged within the field of view of the camera, the height information Z1 of the camera on the Z-axis is obtained.

[0020] In one embodiment, determining the component information of the first vector, the second vector, and the third vector on the Z-axis based on the characterization height information includes:

[0021] The marking height information corresponding to the marking line with the smallest width among the marking lines on the laser marking plate is taken as the height information Z2;

[0022] Based on the difference between the height information Z2 and the height information Z0, the component information of the first vector on the Z-axis is determined;

[0023] Based on the difference between the height information Z1 and the height information Z0, the component information of the second vector on the Z-axis is determined;

[0024] The component information of the third vector on the Z-axis is determined based on the difference between the height information Z2 and the height information Z1.

[0025] In one embodiment, the marking circle is a circle with an area smaller than the field of view of the camera, marked by the laser emitter of the laser cutting equipment on the laser marking plate when the height of the worktable surface of the laser cutting equipment on the Z-axis is the height information Z2. The step of determining the component information of the first vector, the second vector, and the third vector on the X-axis, and the component information of the first vector, the second vector, and the third vector on the Y-axis, based on the center position information of the marking circle, the X-axis coordinate of the laser cutting equipment corresponding to the center position information, and the Y-axis coordinate of the laser cutting equipment, includes:

[0026] When the height of the worktable surface of the laser cutting equipment on the Z-axis is the height information Z2, the first center position information of the marking circle is obtained;

[0027] After the calibration of the camera, the probe, and the laser emitter of the laser cutting equipment is completed, the transformation matrix information from the image coordinate system to the camera coordinate system is obtained;

[0028] After the camera, the probe, and the laser emitter of the laser cutting device are calibrated and the marking circle is within the field of view of the camera, the coordinates of the center of the marking circle on the X-axis and the Y-axis are obtained as the X-axis coordinates and Y-axis coordinates of the laser cutting device corresponding to the first center position information.

[0029] When the camera has completed positioning of the marked circle, the first coordinates of the center of the marked circle in the image coordinate system are obtained;

[0030] Based on the transformation matrix information, the first center position information, the first coordinate of the center of the marked circle in the image coordinate system, and the X-axis coordinate and Y-axis coordinate of the laser cutting device corresponding to the first center position information, the component information of the third vector on the X-axis of the laser cutting device and the component information of the third vector on the Y-axis of the laser cutting device are determined.

[0031] In one embodiment, after the step of obtaining the transformation matrix information from the image coordinate system to the camera coordinate system, the method further includes:

[0032] When the rotation angle of the rotating axis of the laser cutting equipment starts from 0° and rotates sequentially by a preset angle, and the height of the worktable surface of the laser cutting equipment on the Z-axis is the height information Z1, the second center position information of the marking circle is obtained, and the coordinates of the laser cutting equipment on the X-axis and Y-axis are used as the X-axis coordinates and Y-axis coordinates of the laser cutting equipment corresponding to the second center position information.

[0033] When the camera has completed positioning of the marked circle, the second coordinates of the center of the marked circle in the image coordinate system are obtained;

[0034] Based on the second center position information, the second coordinate of the center of the marked circle in the image coordinate system, and the X-axis coordinate and Y-axis coordinate of the laser cutting device corresponding to the second center position information, the coordinates of the center of the marked circle in the camera coordinate system are determined.

[0035] By performing circle fitting on the coordinates of the center of the marked circle in the camera coordinate system, the coordinates of the rotation center of the rotation axis of the laser cutting equipment in the camera coordinate system are obtained.

[0036] Based on the coordinates of the rotation center of the laser cutting device's rotation axis in the camera coordinate system and the position information of the rotation center of the laser cutting device's rotation axis in the probe coordinate system, the component information of the second vector on the X-axis of the laser cutting device and the component information of the third vector on the Y-axis of the laser cutting device are determined.

[0037] Based on the component information of the second vector on the X-axis of the laser cutting device and the component information of the third vector on the Y-axis of the laser cutting device, the component information of the first vector on the X-axis of the laser cutting device and the component information of the third vector on the Y-axis of the laser cutting device are determined.

[0038] Secondly, this application also provides a calibration information generation device, comprising:

[0039] The rotation axis calibration module is used to determine the position information of the rotation center of the laser cutting equipment in the probe coordinate system and the axis direction vector information based on the position information of the preset detection points on the standard ball when the standard ball is within the working table area of ​​the laser cutting equipment and the rotation axis of the laser cutting equipment rotates sequentially by a preset angle.

[0040] The component information determination module is used to acquire the component information of the first vector, the second vector, and the third vector on the X-axis of the laser cutting device, the component information of the first vector, the second vector, and the third vector on the Y-axis of the laser cutting device, and the component information of the first vector, the second vector, and the third vector on the Z-axis of the laser cutting device; the first vector is the vector from the probe center to the laser focus of the laser cutting device; the second vector is the vector from the probe center to the camera center; and the third vector is the vector from the camera center to the laser focus of the laser cutting device.

[0041] The calibration information output module is used to generate calibration information for the laser cutting equipment based on the position information of the rotation center of the rotation axis of the laser cutting equipment in the probe coordinate system and the axial direction vector information, the component information of the first vector, the second vector and the third vector on the X-axis of the laser cutting equipment, the component information of the first vector, the second vector and the third vector on the Y-axis of the laser cutting equipment, and the component information of the first vector, the second vector and the third vector on the Z-axis of the laser cutting equipment.

[0042] Thirdly, this application also provides a computer device. The computer device includes a memory and a processor, the memory storing a computer program that, when executed by the processor, implements the steps of the method described above.

[0043] Fourthly, this application also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program thereon, which, when executed by a processor, implements the steps of the above-described method.

[0044] Fifthly, this application also provides a computer program product. The computer program product includes a computer program that, when executed by a processor, implements the steps of the above-described method.

[0045] The aforementioned calibration information generation method, apparatus, computer equipment, computer-readable storage medium, and computer program product, when the standard sphere is within the working surface of the laser cutting equipment and the rotation axis of the laser cutting equipment rotates sequentially by a preset angle, accurately analyze the position information of the rotation center of the laser cutting equipment's rotation axis in the probe coordinate system and the axial direction vector information based on the position information of the preset detection points on the standard sphere. This allows for the calibration of the rotation axis center using the position and axial direction vector of the rotation center in the probe coordinate system, obtaining the component information of the first, second, and third vectors on the X-axis of the laser cutting equipment, the component information of the first, second, and third vectors on the Y-axis of the laser cutting equipment, and the component information of the first, second, and third vectors on the Z-axis of the laser cutting equipment. The first vector is the vector from the probe center to the laser focus of the laser cutting equipment; the second vector is the vector from the probe center to the camera center; and the third vector is the vector from the camera center to the laser focus of the laser cutting equipment. This utilizes the probe, camera, and laser cutting equipment to calibrate the vector from the probe center to the laser focus of the laser cutting equipment, the vector from the probe center to the laser focus of the laser cutting equipment, and the vector from the probe center to the laser focus of the laser cutting equipment. Accurate analysis of the vectors from the camera center and the laser focus of the laser cutting equipment is performed to obtain the components of the vectors from the probe center to the laser focus of the laser cutting equipment, from the probe center to the camera center, and from the camera center to the laser focus of the laser cutting equipment on the X, Y, and Z axes. Based on the position information and axial direction vector information of the rotation center of the laser cutting equipment's rotation axis in the probe coordinate system, the component information of the first, second, and third vectors on the X, Y, and Z axes of the laser cutting equipment, calibration information for calibrating the laser cutting equipment is generated. The rotation axis center can be calibrated using a standard sphere to obtain the position and axial direction vector of the rotation axis center in the probe coordinate system. The laser center is calibrated through visual positioning to obtain the offset vector between the laser focus and the probe center. Thus, the laser cutting equipment is calibrated using the position and axial direction vector of the rotation axis center in the probe coordinate system, as well as the offset vector between the laser focus and the probe center, improving the calibration efficiency of the equipment. Attached Figure Description

[0046] To more clearly illustrate the technical solutions in the embodiments of this application or related technologies, the drawings used in the description of the embodiments of this application or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0047] Figure 1 This is a flowchart illustrating a calibration information generation method in one embodiment;

[0048] Figure 2 This is a schematic diagram of a standard ball detection method in one embodiment;

[0049] Figure 3 This is a schematic diagram illustrating the arrangement of a camera, probe, and laser emitter of a laser cutting device in one embodiment;

[0050] Figure 4 This is a schematic diagram of a characterizing line in one embodiment;

[0051] Figure 5 This is a schematic diagram of laser center calibration in one embodiment;

[0052] Figure 6 This is a structural block diagram of a calibration information generation device in one embodiment;

[0053] Figure 7 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0054] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0055] In one embodiment, such as Figure 1 As shown, a method for generating calibration information is provided. This embodiment illustrates the application of this method to a terminal. It is understood that this method can also be applied to a server, and further to a system including both a terminal and a server, and is implemented through interaction between the terminal and the server. In this embodiment, the method includes the following steps:

[0056] Step S102: When the standard ball is within the working surface of the laser cutting equipment and the rotating axis of the laser cutting equipment rotates by a preset angle in sequence, determine the position information of the rotation center of the rotating axis of the laser cutting equipment in the probe coordinate system and the axial direction vector information based on the position information of the preset detection point on the standard ball.

[0057] Among them, a standard sphere can refer to a high-precision sphere used to calibrate, standardize, or test the accuracy of equipment.

[0058] Laser cutting equipment can include a five-axis laser cutting machine with an AC dual rotary table. In practical applications, the worktable, XYZ axes, and A / C rotary axes of the laser cutting equipment together constitute the motion system of the equipment, enabling the equipment to precisely cut materials. The worktable refers to the platform on which the material to be processed is placed. The X-axis represents the direction of lateral movement along the worktable, i.e., from left to right. The Y-axis represents the direction of back-and-forth movement perpendicular to the X-axis along the worktable, i.e., from front to back. The Z-axis represents the direction of vertical movement perpendicular to the X and Y axes, controlling the height of the tool relative to the workpiece to adjust the focal point and cutting depth. The A rotary axis can refer to the angle of rotation around the X-axis, and the C rotary axis can refer to the angle of rotation around the Z-axis.

[0059] The preset angle may include, but is not limited to, one-fifth of the effective travel of the rotating shaft.

[0060] The preset detection point can refer to a pre-specified point on the standard sphere. In practical applications, the preset detection point can be any one or more points on the standard sphere.

[0061] As an example, in the case where a camera, probe, and laser emitter of a laser cutting device are arranged parallel to the Z-axis, in order to calibrate the center of the rotation axis of the laser cutting device, when the standard sphere is within the working surface of the laser cutting device and the rotation angle of the laser cutting device's rotation axis is 1 times the preset angle, the terminal can obtain the position information of the preset detection point on the standard sphere through the probe. Similarly, when the standard sphere is within the working surface of the laser cutting device and the rotation angle of the laser cutting device's rotation axis is 2 times the preset angle, the terminal can obtain the position information of the preset detection point on the standard sphere through the probe. When the standard sphere is within the working surface of the laser cutting device and the rotation angle of the laser cutting device's rotation axis is 3 times the preset angle, the terminal can obtain the position information of the preset detection point on the standard sphere through the probe, and so on. The terminal can obtain the position information of the preset detection point on the standard sphere when the rotation axis of the laser cutting device rotates by preset angles in sequence. Then, the terminal can perform circle fitting on the position information of the preset detection point on the standard sphere when the rotation axis of the laser cutting device rotates by preset angles in sequence to obtain the position information of the rotation center of the laser cutting device's rotation axis in the probe coordinate system and the axial direction vector information.

[0062] Step S104: Obtain the component information of the first vector, the second vector, and the third vector on the X-axis of the laser cutting device, the component information of the first vector, the second vector, and the third vector on the Y-axis of the laser cutting device, and the component information of the first vector, the second vector, and the third vector on the Z-axis of the laser cutting device.

[0063] Wherein, the first vector is the vector from the probe center to the laser focus of the laser cutting equipment; the second vector is the vector from the probe center to the camera center; and the third vector is the vector from the camera center to the laser focus of the laser cutting equipment.

[0064] As an example, the offset vector between the laser focus and the probe center can be calibrated through visual positioning. The offset vector between the laser focus and the probe center can be determined by the vector from the probe center to the laser focus of the laser cutting device, the vector from the probe center to the camera center, and the vector from the camera center to the laser focus of the laser cutting device. Therefore, the terminal needs to first obtain the component information of the offset vector between the laser focus and the probe center on the X-axis, Y-axis, and Z-axis of the laser cutting device, respectively, based on the vector from the probe center to the laser focus of the laser cutting device, the vector from the probe center to the camera center, and the vector from the camera center to the laser focus of the laser cutting device. In practical applications, when a laser marking plate is set on the worktable of a laser cutting equipment, and several marking lines and marking circles are marked on the laser marking plate, the terminal can calculate the offset vector between the laser focus and the probe center based on a preset calculation expression. This can be calculated from the vector from the probe center to the laser focus of the laser cutting equipment, the vector from the probe center to the camera center, and the vector from the camera center to the laser focus of the laser cutting equipment, respectively, along the X, Y, and Z axes of the laser cutting equipment.

[0065] Step S106: Based on the position information of the rotation center of the rotation axis of the laser cutting equipment in the probe coordinate system and the axial direction vector information, the component information of the first vector, the second vector and the third vector on the X-axis of the laser cutting equipment, the component information of the first vector, the second vector and the third vector on the Y-axis of the laser cutting equipment, and the component information of the first vector, the second vector and the third vector on the Z-axis of the laser cutting equipment, generate laser cutting equipment calibration information.

[0066] Among them, laser cutting equipment calibration information can refer to information used to calibrate the rotation axis center and laser center of the laser cutting equipment.

[0067] As an example, the calibration information for laser cutting equipment may include information for calibrating the rotation axis center and information for calibrating the laser center. In practical applications, the terminal can determine the information for calibrating the rotation axis center based on the position information of the rotation center of the laser cutting equipment in the probe coordinate system and the axial direction vector information. Based on the component information of the first, second, and third vectors on the Z-axis, the component information of the first, second, and third vectors on the X-axis of the laser cutting equipment, and the component information of the first, second, and third vectors on the Y-axis of the laser cutting equipment, the terminal can determine the information for calibrating the laser center.

[0068] In the above calibration information generation method, when the standard sphere is within the working surface of the laser cutting equipment and the rotation axis of the laser cutting equipment rotates sequentially by a preset angle, the position information of the rotation center of the laser cutting equipment's rotation axis in the probe coordinate system and the axial direction vector information are accurately analyzed based on the position information of the preset detection points on the standard sphere. This allows for the calibration of the rotation axis center using the position of the rotation center in the probe coordinate system and the axial direction vector. The method obtains the component information of the first, second, and third vectors on the X-axis, Y-axis, and Z-axis of the laser cutting equipment, respectively. The first vector is the vector from the probe center to the laser focus of the laser cutting equipment; the second vector is the vector from the probe center to the camera center; and the third vector is the vector from the camera center to the laser focus of the laser cutting equipment. Thus, the probe, camera, and laser cutting equipment are used to calibrate the vectors from the probe center to the laser focus, from the probe center to the camera center, and from the camera center to the laser focus of the laser cutting equipment. Accurate analysis is performed to obtain the vectors from the probe center to the laser focus of the laser cutting equipment, the probe center to the camera center, and the camera center to the laser focus of the laser cutting equipment, respectively, along the X, Y, and Z axes. Based on the position and axial direction vector information of the rotation center of the laser cutting equipment's rotation axis in the probe coordinate system, the X-axis, Y-axis, and Z-axis components of the first, second, and third vectors, respectively, these vectors generate calibration information for calibrating the laser cutting equipment. The rotation axis center can be calibrated using a standard sphere, obtaining the position and axial direction vector of the rotation axis center in the probe coordinate system. The laser center is calibrated using visual positioning, obtaining the offset vector between the laser focus and the probe center. Therefore, the laser cutting equipment is calibrated using the position and axial direction vector of the rotation axis center in the probe coordinate system, as well as the offset vector between the laser focus and the probe center, thus improving the calibration efficiency.

[0069] In some embodiments, obtaining the component information of the first vector, the second vector, and the third vector on the X-axis of the laser cutting equipment, the component information of the first vector, the second vector, and the third vector on the Y-axis of the laser cutting equipment, and the component information of the first vector, the second vector, and the third vector on the Z-axis of the laser cutting equipment includes: when a laser marking plate is provided on the worktable of the laser cutting equipment in a direction perpendicular to the Z-axis of the laser cutting equipment, obtaining the marking height information corresponding to the marking lines on the laser marking plate; the marking lines are obtained by the laser cutting equipment laser marking the laser marking plate at different Z-axis positions; when a camera, a probe, and a laser emitter of the laser cutting equipment are provided parallel to the Z-axis, determining the component information of the first vector, the second vector, and the third vector on the Z-axis based on the marking height information; when a marking circle is marked on the laser marking plate, determining the component information of the first vector, the second vector, and the third vector on the X-axis, and the component information of the first vector, the second vector, and the third vector on the Y-axis based on the center position information of the marking circle, the X-axis coordinate of the laser cutting equipment corresponding to the center position information, and the Y-axis coordinate of the laser cutting equipment.

[0070] Laser marking plates can refer to objects made of materials used for laser marking or engraving. In practical applications, laser marking plates can include, but are not limited to, metal marking plates.

[0071] The marking lines can be obtained by laser cutting equipment to laser mark the laser marking plate at different Z-axis positions.

[0072] Among them, the engraving height information can refer to the Z-axis coordinate of the laser cutting equipment when the engraving line is engraved.

[0073] The first vector can be the vector from the probe center to the laser focus of the laser cutting equipment, the second vector can be the vector from the probe center to the camera center, and the third vector can be the vector from the camera center to the laser focus of the laser cutting equipment.

[0074] The marked circle can refer to a circle with a preset radius that is marked at any position on the laser marking plate by the laser cutting equipment.

[0075] The center position information of the marking circle can be the coordinates of the center of the marking circle on the X-axis and Y-axis of the laser cutting equipment.

[0076] Among them, the X-axis coordinate of the laser cutting equipment corresponding to the center position information can refer to the coordinate of the center of the marking circle on the X-axis of the laser cutting equipment after the marking circle is moved into the field of view of the camera, and the Y-axis coordinate of the laser cutting equipment can refer to the coordinate of the center of the marking circle on the Y-axis of the laser cutting equipment after the marking circle is moved into the field of view of the camera.

[0077] As an example, to calibrate the offset vector between the laser focus and the probe center using visual positioning, a camera, probe, and laser emitter of the laser cutting equipment are arranged parallel to the Z-axis above the worktable of the laser cutting equipment. A laser marking plate is positioned on the worktable of the laser cutting equipment in a direction perpendicular to the Z-axis. The terminal can obtain the marking height information corresponding to the marking lines formed by the laser cutting equipment on the laser marking plate, and use this marking height information to determine the offset vector between the laser focus and the probe center. To calibrate the offset vector between the laser focus and the probe center using visual positioning, the camera, probe, and laser emitter of the laser cutting equipment are arranged parallel to the Z-axis above the worktable of the laser cutting equipment. In this case, the calibration of the offset vector between the laser focus and the probe center can include determining the components of the vector from the probe center to the laser focus of the laser cutting equipment, the vector from the probe center to the camera center, and the vector from the camera center to the laser focus of the laser cutting equipment in the X-axis, Y-axis, and Z-axis directions, respectively. The terminal can first determine the Z-axis components of the first, second, and third vectors according to the marking height information and a preset calculation expression. To calibrate the offset vector between the laser focus and the probe center using visual positioning, a camera, probe, and laser emitter of the laser cutting equipment are positioned parallel to each other along the Z-axis above the worktable of the laser cutting equipment. The calibration of the offset vector between the laser focus and the probe center can include determining the components of the vectors from the probe center to the laser focus of the laser cutting equipment, the vector from the probe center to the camera center, and the vector from the camera center to the laser focus of the laser cutting equipment in the X-axis, Y-axis, and Z-axis directions, respectively. When a marking circle is engraved on the laser marking plate, the center position information of the marking circle can be obtained through visual positioning. The terminal can then acquire the center position information of the marking circle and utilize the circular... The center position information is used to determine the coordinate representation of the center of the marked circle in the image coordinate system according to the preset calculation expression. Then, the terminal can determine the component information of the first vector and the second vector on the X-axis of the laser cutting device, as well as the component information of the first vector and the second vector on the Y-axis of the laser cutting device, based on the coordinate representation of the center of the marked circle in the image coordinate system. The relationship between the first vector, the second vector and the third vector is analyzed. Based on the component information of the first vector and the second vector on the X-axis of the laser cutting device, as well as the component information of the first vector and the second vector on the Y-axis of the laser cutting device, the component information of the third vector on the X-axis and Y-axis of the laser cutting device is determined.

[0078] In this embodiment, when a laser marking plate is set on the worktable of the laser cutting equipment in a direction perpendicular to the Z-axis of the laser cutting equipment, the marking height information corresponding to the marking lines on the laser marking plate is obtained. The marking lines are obtained by the laser cutting equipment laser marking the laser marking plate at different Z-axis positions. When the camera, probe, and laser emitter of the laser cutting equipment are set parallel to the Z-axis, the component information of the first vector, the second vector, and the third vector on the Z-axis is determined according to the marking height information. The first vector is the vector from the center of the probe to the laser focus of the laser cutting equipment; the second vector is the vector from the center of the probe to the center of the camera; and the third vector is the vector from the center of the camera to the laser focus of the laser cutting equipment. Thus, the laser focus is accurately analyzed through visual positioning. The offset vector between the laser focus and the probe center on the Z-axis is used to calibrate the offset vector between the laser focus and the probe center. When a marking circle is marked on the laser marking plate, the component information of the first, second, and third vectors on the X-axis and Y-axis of the laser cutting equipment is determined based on the center position information of the marking circle and the corresponding X-axis and Y-axis coordinates of the laser cutting equipment. This allows for accurate analysis of the offset vector between the laser focus and the probe center on the X and Y axes through visual positioning, enabling the calibration of the offset vector between the laser focus and the probe center. This facilitates rapid and accurate calibration of the laser cutting equipment, improving the calibration efficiency.

[0079] In an exemplary embodiment, determining the position information of the rotation center of the laser cutting device's rotation axis in the probe coordinate system and the axial direction vector information based on the position information of the preset detection points on the standard sphere includes: fitting the position information of the preset detection points on the standard sphere to obtain the sphere center coordinates; and performing spatial circle fitting on the sphere center coordinates to obtain the position information of the rotation center of the rotation axis in the probe coordinate system and the axial direction vector information.

[0080] Among them, the center coordinates can refer to the information that characterizes the position of the center of the standard sphere in the spatial coordinate system (such as the coordinate system determined by the X-axis, Y-axis and Z-axis of the laser cutting equipment) on the worktable surface of the laser cutting equipment.

[0081] As an example, to calibrate the center of a rotation axis, for each rotation axis, when the standard sphere is within the worktable of the laser cutting equipment and the rotation angle of the rotation axis is one time the preset angle (e.g., one-fifth of the effective stroke of the rotation axis), the terminal can obtain the position information of a preset detection point on the standard sphere through a probe, and fit the position information of the preset detection point on the standard sphere to obtain the sphere center coordinates Q1. Similarly, when the rotation angle of the rotation axis is two times the preset angle, the terminal can obtain the sphere center coordinates Q2. When the rotation angle of the rotation axis is three times the preset angle, the terminal can obtain the sphere center coordinates Q3. When the rotation angle of the rotation axis is four times the preset angle, the terminal can obtain the sphere center coordinates Q4. When the rotation angle of the rotation axis is five times the preset angle, the terminal can obtain the sphere center coordinates Q5. Then the terminal can perform spatial circle fitting on the above sphere center coordinates Q1, Q2, Q3, Q4, and Q5 to obtain the position information of the rotation center of the rotation axis in the probe coordinate system and the axis direction vector information. It is worth noting that after calibrating the rotation center of one rotating axis, the rotation centers of other rotating axes need to be calibrated when the rotation angle of that rotating axis is 0°.

[0082] In this embodiment, the coordinates of the sphere's center are obtained by fitting the position information of the preset detection points on the standard sphere; the coordinates of the sphere's center are then fitted with a spatial circle to obtain the position information of the rotation center of the rotation axis in the probe coordinate system and the axial direction vector information. This allows for the rapid and accurate analysis of the position of the rotation center of the rotation axis in the probe coordinate system and the axial direction vector, so as to accurately calibrate the center of the rotation axis, thereby improving the calibration efficiency and accuracy of the laser cutting equipment.

[0083] In some embodiments, before obtaining the height information of the marking lines on the laser marking plate, the method further includes: obtaining the height information Z0 of the worktable surface of the laser cutting equipment on the Z-axis when the laser spot formed by the laser emitter of the laser cutting equipment on the laser marking plate is the smallest; obtaining the height information of the worktable surface of the laser cutting equipment on the Z-axis as the height information of the marking lines on the laser marking plate when the height of the worktable surface of the laser cutting equipment on the Z-axis differs from the height information Z0 by a preset height difference; and obtaining the height information Z1 of the camera on the Z-axis when the marking lines on the laser marking plate are clearly imaged within the field of view of the camera.

[0084] Among them, the height information of the worktable surface of the laser cutting equipment on the Z-axis can refer to the coordinates of the position of the worktable surface of the laser cutting equipment on the Z-axis.

[0085] As an example, when the position of the laser cutting equipment's worktable on the Z-axis changes until the laser spot formed by the laser emitter on the laser marking plate is minimized, the terminal can obtain the coordinates of the worktable's position on the Z-axis as height information Z0. In practical applications, when the coordinates of the worktable's position on the Z-axis are height information Z0, the laser cutting equipment can form / mark a line on the laser marking plate, which can be recorded as the line corresponding to height information Z0. Then, when the coordinates of the worktable's position on the Z-axis are height information Z0-d (d represents a preset height difference), the laser cutting equipment can form / mark a line on one side (e.g., the left side) of the line corresponding to height information Z0, which can be recorded as the line corresponding to height information Z0-d. Similarly, when the worktable of the laser cutting equipment is located at a height of Z0-2d on the Z-axis, the laser cutting equipment can form / mark a line to the left of the line corresponding to height Z0-d. This line can be recorded as the line corresponding to height Z0-2d. When the worktable of the laser cutting equipment is located at a height of Z0+d (d represents the preset height difference) on the Z-axis, the laser cutting equipment can form / mark a line on the other side (e.g., the right side) of the line corresponding to height Z0. This line can be recorded as the line corresponding to height Z0+d. Similarly, when the worktable of the laser cutting equipment is located at a height of Z0+2d on the Z-axis, the laser cutting equipment can form / mark a line to the left of the line corresponding to height Z0+d. This line can be recorded as the line corresponding to height Z0+2d. It is understandable that height information Z0, height information Z0+d, height information Z0+2d, height information Z0-d, and height information Z0-2d can be used as the corresponding height information for the marking lines. When the position of the laser cutting equipment's worktable changes along the X, Y, and Z axes until the marking lines on the laser marking plate are clearly imaged within the camera's field of view, the terminal can record the coordinates of the camera's position on the Z-axis at this point as height information Z1.

[0086] In this embodiment, the height information Z0 of the laser cutting equipment's worktable on the Z-axis is obtained when the laser spot formed by the laser emitter on the laser marking plate is minimized. When the height of the laser cutting equipment's worktable on the Z-axis differs from the height information Z0 by a preset height difference, the height information of the laser cutting equipment's worktable on the Z-axis is obtained as the marking height information corresponding to the marking line on the laser marking plate. When the marking line on the laser marking plate is clearly imaged within the camera's field of view, the height information Z1 of the camera on the Z-axis is obtained. This allows for accurate acquisition of the height information Z0, the marking height information corresponding to the marking line, and the height information Z1 of the camera on the Z-axis. This enables subsequent analysis of the vectors from the probe center to the laser focus of the laser cutting equipment, the vector from the probe center to the camera center, and the vector from the camera center to the laser focus of the laser cutting equipment, each with its own Z-axis component. This provides a data basis for laser center calibration, thereby improving the calibration efficiency and accuracy of the laser cutting equipment.

[0087] In some embodiments, determining the component information of the first vector, the second vector, and the third vector on the Z-axis based on the marking height information includes: taking the marking height information corresponding to the marking line with the smallest width among the marking lines on the laser marking plate as height information Z2; determining the component information of the first vector on the Z-axis based on the difference between height information Z2 and height information Z0; determining the component information of the second vector on the Z-axis based on the difference between height information Z1 and height information Z0; and determining the component information of the third vector on the Z-axis based on the difference between height information Z2 and height information Z1.

[0088] As an example, the terminal can acquire the width of each marking line on the laser marking plate through the camera, and take the marking height information corresponding to the marking line with the smallest width on the laser marking plate as height information Z2. Then, the terminal can calculate the difference between height information Z2 and height information Z0 to obtain the component information of the vector from the probe center to the laser focus of the laser cutting device on the Z-axis. Calculate the difference between height information Z1 and height information Z0 to obtain the component information of the vector from the probe center to the camera center on the Z-axis. Calculate the difference between height information Z2 and height information Z1 to obtain the component information of the vector from the camera center to the laser focus of the laser cutting device on the Z-axis.

[0089] In this embodiment, the height information corresponding to the smallest marking line among the marking lines on the laser marking plate is taken as height information Z2; the component information of the first vector on the Z-axis is determined based on the difference between height information Z2 and height information Z0; the component information of the second vector on the Z-axis is determined based on the difference between height information Z1 and height information Z0; and the component information of the third vector on the Z-axis is determined based on the difference between height information Z2 and height information Z1. This allows for rapid and accurate analysis of the Z-axis components of the vectors from the probe center to the laser focus of the laser cutting equipment, the vector from the probe center to the camera center, and the vector from the camera center to the laser focus of the laser cutting equipment, thereby improving the calibration efficiency and accuracy of the laser cutting equipment.

[0090] In some embodiments, when the height of the worktable surface of the laser cutting equipment on the Z-axis is height information Z2, the circle marked on the laser marking plate by the laser emitter of the laser cutting equipment has an area smaller than the field of view of the camera. Based on the center position information of the marking circle, the X-axis coordinate of the laser cutting equipment corresponding to the center position information, and the Y-axis coordinate of the laser cutting equipment, the component information of the first vector, the second vector, and the third vector on the X-axis of the laser cutting equipment, and the component information of the first vector, the second vector, and the third vector on the Y-axis of the laser cutting equipment are determined. This includes: obtaining the first center position information of the marking circle when the height of the worktable surface of the laser cutting equipment on the Z-axis is height information Z2; and after calibrating the camera, probe, and laser emitter of the laser cutting equipment... When the calibration of the camera, probe, and laser emitter of the laser cutting equipment is completed, and the marked circle is within the field of view of the camera, the coordinates of the center of the marked circle on the X-axis and Y-axis are obtained as the X-axis coordinates and Y-axis coordinates of the laser cutting equipment corresponding to the first center position information. When the camera completes the positioning of the marked circle, the first coordinates of the center of the marked circle in the image coordinate system are obtained. Based on the transformation matrix information, the first center position information, the first coordinates of the center of the marked circle in the image coordinate system, and the X-axis coordinates and Y-axis coordinates of the laser cutting equipment corresponding to the first center position information, the component information of the third vector on the X-axis and the component information of the third vector on the Y-axis are determined.

[0091] As an example, when the height of the worktable of the laser cutting equipment on the Z-axis is Z2, the laser emitter of the laser cutting equipment marks a circle on the laser marking plate with an area smaller than half the field of view of the camera. At this point, the terminal can obtain the coordinates of the marked circle on the X and Y axes as the first center position information of the marked circle. After the camera, probe, and laser emitter of the laser cutting equipment are calibrated using a robotic eye calibration method, the terminal can analyze the positional relationship between the camera, probe, and laser emitter of the laser cutting equipment to determine the transformation matrix information from the image coordinate system to the camera coordinate system. When the camera, probe, and laser emitter of the laser cutting equipment are calibrated using a robotic eye calibration method, and the marked circle is within the field of view of the camera (e.g., the marked circle is at the center of the camera's field of view), the terminal can obtain the coordinates of the center of the marked circle on the X and Y axes as the X-axis coordinates and Y-axis coordinates of the laser cutting equipment corresponding to the first center position information. After the camera completes visual positioning of the marked circle (e.g., the camera takes a picture containing the circle, the visual positioning algorithm first extracts the pixels on the edge of the circle, then performs least-squares fitting to obtain the center coordinates), the terminal can obtain the first coordinate of the center of the marked circle in the image coordinate system. Then, based on the transformation matrix information, the first center position information, the first coordinate of the center of the marked circle in the image coordinate system, and the X-axis and Y-axis coordinates of the laser cutting device corresponding to the first center position information, the terminal can determine the component information of the third vector on the X-axis and Y-axis of the laser cutting device. In practical applications, the terminal can determine the representation of the center of the marked circle in the camera coordinate system based on the transformation matrix information, the first coordinate of the center of the marked circle in the image coordinate system, and the X-axis and Y-axis coordinates of the laser cutting device corresponding to the first center position information. Then, based on the first center position information and the representation of the center of the marked circle in the camera coordinate system, the terminal can determine the component information of the vector from the camera center to the laser focus of the laser cutting device on the X and Y axes.

[0092] In this embodiment, the first center position information of the marking circle is obtained when the height of the worktable surface of the laser cutting equipment on the Z-axis is height information Z2; the transformation matrix information from the image coordinate system to the camera coordinate system is obtained after the calibration of the camera, probe, and laser emitter of the laser cutting equipment is completed; the X-axis coordinates and Y-axis coordinates of the center of the marking circle are obtained as the X-axis coordinates and Y-axis coordinates of the laser cutting equipment corresponding to the first center position information when the camera completes the positioning of the marking circle; and the first center position information is obtained when the camera completes the positioning of the marking circle. In this case, the first coordinate of the center of the marked circle in the image coordinate system is obtained; based on the transformation matrix information, the first center position information, the first coordinate of the center of the marked circle in the image coordinate system, and the X-axis coordinate and Y-axis coordinate of the laser cutting device corresponding to the first center position information, the component information of the third vector on the X-axis and the component information of the third vector on the Y-axis of the laser cutting device are determined. This allows for accurate analysis of the components of the vector from the camera center to the laser focus of the laser cutting device on the X and Y axes, enabling rapid and accurate calibration of the laser center of the laser cutting device, thereby improving the calibration efficiency and accuracy of the laser cutting device.

[0093] In some embodiments, after obtaining the transformation matrix information from the image coordinate system to the camera coordinate system, the method further includes: when the rotation angle of the rotation axis of the laser cutting device starts from 0 degrees and rotates sequentially by a preset angle, and the height of the worktable surface of the laser cutting device on the Z-axis is height information Z1, obtaining the second center position information of the marking circle, and using the coordinates of the laser cutting device on the X-axis and Y-axis as the X-axis coordinates and Y-axis coordinates of the laser cutting device corresponding to the second center position information; when the camera completes the positioning of the marking circle, obtaining the second coordinates of the center of the marking circle in the image coordinate system; and determining the center of the marking circle in the camera coordinate system based on the second center position information, the second coordinates of the center of the marking circle in the image coordinate system, and the X-axis coordinates and Y-axis coordinates of the laser cutting device corresponding to the second center position information. The coordinates of the center of the marked circle in the camera coordinate system are fitted to obtain the coordinates of the rotation center of the laser cutting equipment in the camera coordinate system. Based on the coordinates of the rotation center of the laser cutting equipment in the camera coordinate system and the position information of the rotation center of the laser cutting equipment in the probe coordinate system, the component information of the second vector on the X-axis and the component information of the third vector on the Y-axis of the laser cutting equipment are determined. Based on the component information of the second vector on the X-axis and the third vector on the Y-axis of the laser cutting equipment, the component information of the first vector on the X-axis and the component information of the third vector on the Y-axis of the laser cutting equipment are determined.

[0094] As an example, after obtaining the transformation matrix information from the image coordinate system to the camera coordinate system, in order to determine the X-axis and Y-axis components of the second vector (the vector from the probe center to the camera center), when the rotation angle of the laser cutting equipment's rotation axis is 0°, the coordinate of the laser cutting equipment's worktable surface on the Z-axis is Z1, and the marking circle is within the camera's field of view (e.g., the marking circle is at the center of the camera's field of view), the terminal can obtain the X-axis and Y-axis coordinates of the marking circle's center as the corresponding X-axis and Y-axis coordinates of the laser cutting equipment. Then, after the camera completes visual positioning of the marking circle (e.g., the camera takes a picture containing the circle, and the visual positioning algorithm first extracts the pixels on the circle's edge, then performs least-squares fitting to obtain the center coordinates), the terminal can obtain the coordinates of the marking circle's center in the image coordinate system. The terminal can then determine the representation of the center of the marked circle in the camera coordinate system based on the transformation matrix information from the image coordinate system to the camera coordinate system, the coordinates of the center of the marked circle in the image coordinate system, and the X-axis and Y-axis coordinates of the laser cutting device corresponding to the center position of the marked circle. Similarly, when the rotation axis of the laser cutting device rotates 60° sequentially, the coordinates of the worktable surface of the laser cutting device on the Z-axis are Z1, and the marked circle is within the field of view of the camera (e.g., the marked circle is at the center of the field of view of the camera), the terminal can obtain the representation of the center of the marked circle in the camera coordinate system at this time. Finally, six sets of representations of the center of the marked circle in the camera coordinate system are obtained. The terminal can then perform circle fitting on these six sets of representations of the center of the marked circle in the camera coordinate system to obtain the coordinates of the rotation center in the camera coordinate system. The terminal can then determine the X-axis and Y-axis components of the second vector based on the position information of the rotation center of the rotation axis in the probe coordinate system and the coordinates of the rotation center in the camera coordinate system. For example, the difference between the X-axis coordinate of the rotation center in the probe coordinate system and the X-axis coordinate of the rotation center in the camera coordinate system can be used as the X-axis component of the second vector. Similarly, the difference between the Y-axis coordinate of the rotation center in the probe coordinate system and the Y-axis coordinate of the rotation center in the camera coordinate system can be used as the Y-axis component of the second vector. The terminal can then determine the X-axis and Y-axis components of the third vector (the vector from the camera center to the laser focus of the laser cutting device) based on the X-axis and Y-axis components of the first vector (the vector from the probe center to the laser focus of the laser cutting device) and the second vector (the vector from the probe center to the camera center). For instance, the terminal can calculate the sum of the X-axis components of the first and second vectors to obtain the X-axis component of the third vector, and calculate the sum of the Y-axis components of the first and second vectors to obtain the Y-axis component of the third vector.

[0095] In this embodiment, by rotating the rotation angle of the laser cutting equipment's rotating axis sequentially by a preset angle starting from 0 degrees, and with the height of the laser cutting equipment's worktable surface on the Z-axis being height information Z1, the second center position information of the marking circle is obtained. The coordinates of the laser cutting equipment on the X-axis and Y-axis are used as the X-axis coordinates and Y-axis coordinates of the laser cutting equipment corresponding to the second center position information. When the camera completes positioning of the marking circle, the second coordinates of the center of the marking circle in the image coordinate system are obtained. Based on the second center position information, the second coordinates of the center of the marking circle in the image coordinate system, and the X-axis and Y-axis coordinates of the laser cutting equipment corresponding to the second center position information, the coordinates of the center of the marking circle in the camera coordinate system are determined. Circle fitting is performed on the coordinates of the center of the marking circle in the camera coordinate system to obtain the coordinates of the rotation center of the laser cutting equipment's rotating axis in the camera coordinate system. Based on the coordinates of the rotation center of the laser cutting equipment's rotating axis in the camera coordinate system and the coordinates of the laser cutting equipment's rotating axis... By analyzing the position information of the rotation center in the probe coordinate system, the component information of the second vector on the X-axis and the component information of the third vector on the Y-axis of the laser cutting equipment are determined. Based on the component information of the second vector on the X-axis and the third vector on the Y-axis of the laser cutting equipment, the component information of the first vector on the X-axis and the third vector on the Y-axis of the laser cutting equipment are determined. This allows for rapid and accurate analysis of the components of the vector from the probe center to the camera center on the X-axis and Y-axis. Combined with the components of the vector from the probe center to the laser focus of the laser cutting equipment on the X-axis and Y-axis, the components of the vector from the camera center to the laser focus of the laser cutting equipment on the X-axis and Y-axis are also rapidly and accurately analyzed. This enables rapid and accurate calibration of the laser center of the laser cutting equipment, improving the calibration efficiency and accuracy of the laser cutting equipment.

[0096] In some embodiments, in order to calibrate the rotation centers of each rotating axis of the laser cutting equipment, a standard ball is first fixed at a preset position on the worktable of the laser cutting equipment (such as any position on the worktable within the working range of the machine tool). Figure 2As shown, a schematic diagram of standard sphere detection is provided. The effective travel 5 of the first rotation axis is divided into angles A1, A2, A3, A4, and A5. Then, the first rotation axis is rotated to angle A1, and a probe is used to detect the preset detection points of the standard sphere (such as the vertex and four points on the equatorial plane), obtaining 5 sets of detection point coordinates Pi (i=1, 2, 3, 4, 5). Then, the coordinates Q1 of the sphere center are fitted using the least squares method on these 5 sets of data. Similarly, when the first rotation axis is rotated to angle A2, the coordinates Pi (i=1, 2, 3, 4, 5) of the five preset detection points of the standard sphere are fitted using the least squares method to obtain the sphere center coordinates Q2. Rotating the first rotation axis to angle A3 yields the sphere center coordinates Q3, rotating it to angle A4 yields Q4, and rotating it to angle A5 yields Q5. The five sphere center coordinates Q1, Q2, Q3, Q4, and Q5 are then fitted using the least squares method to a spatial circle to obtain the coordinates O of the rotation center of the first rotation axis in the probe coordinate system. A (OAx, OAy, OAz) and axial direction vector V A (VAx, VAy, VAz). When calibrating the rotation center of the second rotation axis, first set the rotation angle of the first rotation axis to 0°, and then follow a similar procedure to calibrate the rotation center of the first rotation axis to obtain the coordinates O of the rotation center of the second rotation axis in the probe coordinate system. C (OCx, OCY, OCz) and axial direction vector V C (VCx, VCY, VCz). In practical applications, after all axes of the laser cutting equipment have returned to zero, the center point of the probe ball is the origin of the probe coordinate system, and the directions of the X / Y / Z axes of the probe coordinate system are defined in the same way as the X / Y / Z axes of the machine tool.

[0097] like Figure 3 The diagram illustrates a setup for a camera, probe, and laser emitter in a laser cutting device. Laser center calibration requires determining the offset vector between the laser focus and the probe center. The offset vector between the laser focus and the probe center is calibrated by introducing visual positioning. It can refer to the vector from the camera center point to the laser focus; CEx can refer to a vector. The component along the X-axis, CEy, can refer to a vector. The component along the Y-axis, CEz, can refer to a vector. The component in the Z-axis direction; PCx can refer to the vector from the probe's center point to the camera's center point. The component along the X-axis, PCy, can refer to a vector. The component along the Y-axis, PCz, can refer to a vector. The component in the Z-axis direction, It can refer to the vector from the probe center to the laser focus; PEx can refer to a vector. The component along the X-axis, PEy, can refer to a vector. The component along the Y-axis, PEz, can refer to a vector. The component in the Z-axis direction.

[0098] In practical applications, laser center calibration can include calibration of the camera and laser working height, calibration of the camera center and laser focus center, and calibration of the camera center and probe center.

[0099] Camera and laser working height calibration: First, fix a laser marking plate on the worktable. Use a probe to detect the surface of the laser marking plate to obtain the height value of the working surface. Then, manually adjust the Z-axis to minimize the laser spot size on the marking plate surface. The height of the working surface at this point can be recorded as Z0. At this height, start laser marking to draw a marking line. Then, move the Z-axis to the left and right sides of this line by -0.05 / +0.05mm each time (i.e., the preset height difference; this value can be adjusted according to the laser focal depth. If the focal depth is small, this value needs to be reduced). Mark one line at a time, and simultaneously record the Z-axis height value (i.e., marking height information) when marking the line. Figure 4 As shown, a schematic diagram of a characterization line is provided. Lines are etched using a laser at different Z-axis heights. Finding the narrowest line indicates that this height provides the best laser focusing effect, which is the optimal working height. However, to prevent all the characterization lines from overlapping, the laser head needs to move a distance within the XY plane while etching each line. The worktable is then adjusted along the X, Y, and Z axes until the characterization line is clearly imaged within the camera's field of view. The camera height Z1 is recorded at this point, and the width of the characterization line is measured using the camera. The characterization line with the smallest width is determined, and its corresponding height value (i.e., characterization height information) is recorded as Z2. At this point, PEz can be represented as PEz = Z2 - Z0, PCz as PCz = Z1 - Z0, and CEz as CEz = Z2 - Z1.

[0100] Camera center and laser focus center calibration: such as Figure 5 As shown, a schematic diagram of laser center calibration is provided. The Z-axis is adjusted to a height of Z2, and a calibration circle no larger than half the camera's field of view is etched on the calibration plate (at any position). The coordinates of the center of the calibration circle (L_Ox, L_Oy) are recorded. Then, calibration is performed using a robotic hand-eye calibration method to obtain the transformation matrix M from the image coordinate system to the camera coordinate system. The transformation matrix M can be expressed as:

[0101] .

[0102] Among them, R 00 R 01 R 10 R 11 It can refer to the parameter T, which characterizes the relationship between the rotation transformation from pixel coordinates to the camera coordinate system and the scaling transformation. x T y It can refer to information that represents the translation relationship between pixel coordinates and the camera coordinate system.

[0103] The circle is moved back to the center of the camera's field of view, and the machine tool's XY coordinates (C_Ox, C_Oy) are recorded at this point. The circle is then visually positioned using the camera to obtain the center coordinates (Cx, Cy) in the image coordinate system. Combined with the transformation matrix M, the center's representation in the camera coordinate system (Mx, My) can be obtained. The relationship between the center's representation in the camera coordinate system (Mx, My), the transformation matrix M, the center's coordinates (Cx, Cy) in the image coordinate system, and the machine tool's XY coordinates (C_Ox, C_Oy) can be expressed as follows:

[0104] .

[0105] At this point, CEx can be represented as CEx = L_Ox - Mx, and CEy can be represented as CEy = L_Oy – My.

[0106] Camera center and probe center calibration: Using the calibrated circle obtained during the camera center and laser focus center calibration process, first rotate the axis (e.g., C-axis) back to 0° and the Z-axis back to height Z1. Then move the X and Y axes to bring the calibrated circle into the camera's field of view for visual positioning, obtaining the coordinates of the circle's center in the image coordinate system. Combining this with the transformation matrix, the representation of the circle's center in the camera coordinate system (Mx1, My1) can be obtained. Next, rotate the axis (e.g., C-axis) by 60°. Since the circle previously within the camera's field of view is no longer within the field of view after rotating the C-axis, it is necessary to move the X and Y axes to bring the circle back into the camera's field of view. Again, move the X and Y axes to bring the calibrated circle into the camera's field of view for visual positioning, obtaining the coordinates of the circle's center in the image coordinate system. Combining this with the transformation matrix, the representation of the circle's center in the camera coordinate system (Mx2, My2) can be obtained. Similarly, by rotating the rotation axis by 60° sequentially, we can obtain the representations of the circle centers in the camera coordinate system as (Mx3, My3), (Mx4, My4), (Mx5, My5), and (Mx6, My6). Finally, we obtain six sets of circle center representations in the camera coordinate system. By performing circle fitting using the least squares method on these six sets of coordinates, we obtain the coordinates of the C-axis rotation center in the camera coordinate system as (MCx, MCy). The laser center calibration process obtains the coordinates O of the rotation center of the rotation axis (such as the C-axis) in the probe coordinate system.C (OCx, OCy, OCz), therefore, PCx can be expressed as PCx = MCx - OCx, PCy = MCy – OCy. Furthermore, PEx can be expressed as PEx = PCx + CEx, PEy = PCy + CEy.

[0107] In this embodiment, for the calibration of the AC rotation axis center, this scheme adopts the method of probe plus standard ball, and obtains the rotation axis center coordinates by detection and fitting. Then, by introducing a visual positioning scheme, the relationship between the center of the camera and the laser is first calibrated, then the relationship between the camera and the probe is calibrated, and finally the relationship between the laser and the probe is obtained. This can realize the automatic calibration of the rotation axis center with high calibration accuracy. By introducing a visual positioning device, the camera-laser and camera-probe relationships are established, and the laser-probe relationship is indirectly calibrated, thereby improving the calibration efficiency and accuracy of the laser cutting equipment.

[0108] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0109] Based on the same inventive concept, this application also provides a calibration information generation apparatus for implementing the calibration information generation method described above. The solution provided by this apparatus is similar to the implementation described in the above method; therefore, the specific limitations in one or more calibration information generation apparatus embodiments provided below can be found in the limitations of the calibration information generation method described above, and will not be repeated here.

[0110] In one exemplary embodiment, such as Figure 6 As shown, a calibration information generation device is provided, including: a rotation axis calibration module 602, a component information determination module 604, and a calibration information output module 606, wherein:

[0111] The rotation axis calibration module 602 is used to determine the position information of the rotation center of the laser cutting equipment in the probe coordinate system and the axis direction vector information based on the position information of the preset detection points on the standard ball when the standard ball is within the working table of the laser cutting equipment and the rotation axis of the laser cutting equipment rotates by a preset angle in sequence.

[0112] The component information determination module 604 is used to acquire the component information of the first vector, the second vector, and the third vector on the X-axis of the laser cutting device, the component information of the first vector, the second vector, and the third vector on the Y-axis of the laser cutting device, and the component information of the first vector, the second vector, and the third vector on the Z-axis of the laser cutting device; the first vector is the vector from the probe center to the laser focus of the laser cutting device; the second vector is the vector from the probe center to the camera center; and the third vector is the vector from the camera center to the laser focus of the laser cutting device.

[0113] The calibration information output module 606 is used to generate calibration information for the laser cutting equipment based on the position information of the rotation center of the rotation axis of the laser cutting equipment in the probe coordinate system and the axial direction vector information, the component information of the first vector, the second vector and the third vector on the X-axis of the laser cutting equipment, the component information of the first vector, the second vector and the third vector on the Y-axis of the laser cutting equipment, and the component information of the first vector, the second vector and the third vector on the Z-axis of the laser cutting equipment.

[0114] In one exemplary embodiment, the component information determination module 604 is further configured to: acquire the marking height information corresponding to the marking lines on the laser marking plate when a laser marking plate is provided on the worktable of the laser cutting equipment in a direction perpendicular to the Z-axis of the laser cutting equipment; the marking lines are obtained by the laser cutting equipment laser marking the laser marking plate at different Z-axis positions; when a camera, probe, and laser emitter of the laser cutting equipment are arranged parallel to the Z-axis, determine the component information of the first vector, the second vector, and the third vector on the Z-axis based on the marking height information; and when a marking circle is marked on the laser marking plate, determine the component information of the first vector, the second vector, and the third vector on the X-axis, and the component information of the first vector, the second vector, and the third vector on the Y-axis based on the center position information of the marking circle, the X-axis coordinate of the laser cutting equipment corresponding to the center position information, and the Y-axis coordinate of the laser cutting equipment.

[0115] In one exemplary embodiment, the rotation axis calibration module 602 is further configured to fit the position information of the preset detection point on the standard sphere to obtain the sphere center coordinates; and to perform spatial circle fitting on the sphere center coordinates to obtain the position information of the rotation center of the rotation axis in the probe coordinate system and the axis direction vector information.

[0116] In one exemplary embodiment, the device further includes a marking module, which is specifically used to: acquire the height information Z0 of the worktable surface of the laser cutting equipment on the Z-axis when the laser spot formed by the laser emitter of the laser cutting equipment on the laser marking plate is minimized; acquire the height information of the worktable surface of the laser cutting equipment on the Z-axis as the marking height information corresponding to the marking line on the laser marking plate when the height of the worktable surface of the laser cutting equipment on the Z-axis differs from the height information Z0 by a preset height difference; and acquire the height information Z1 of the camera on the Z-axis when the marking line on the laser marking plate is clearly imaged within the field of view of the camera.

[0117] In one exemplary embodiment, the component information determination module 604 is further configured to: use the marking height information corresponding to the marking line with the smallest width among the marking lines on the laser marking plate as height information Z2; determine the component information of the first vector on the Z-axis based on the difference between the height information Z2 and the height information Z0; determine the component information of the second vector on the Z-axis based on the difference between the height information Z1 and the height information Z0; and determine the component information of the third vector on the Z-axis based on the difference between the height information Z2 and the height information Z1.

[0118] In one exemplary embodiment, the marking circle is a circle with an area smaller than the field of view of the camera, etched by the laser emitter of the laser cutting device on the laser marking plate when the height of the worktable surface of the laser cutting device on the Z-axis is the height information Z2. Specifically, the component information determination module 604 is further configured to: obtain the first center position information of the marking circle when the height of the worktable surface of the laser cutting device on the Z-axis is the height information Z2; obtain the transformation matrix information from the image coordinate system to the camera coordinate system after the calibration of the camera, the probe, and the laser emitter of the laser cutting device is completed; and obtain the transformation matrix information from the image coordinate system to the camera coordinate system after the calibration of the camera, the probe, and the laser emitter of the laser cutting device is completed. When the marked circle is within the field of view of the camera, the coordinates of the center of the marked circle on the X-axis and the Y-axis are obtained as the X-axis coordinates and Y-axis coordinates of the laser cutting device corresponding to the first center position information; when the camera completes the positioning of the marked circle, the first coordinates of the center of the marked circle in the image coordinate system are obtained; based on the transformation matrix information, the first center position information, the first coordinates of the center of the marked circle in the image coordinate system, and the X-axis coordinates and Y-axis coordinates of the laser cutting device corresponding to the first center position information, the component information of the third vector on the X-axis of the laser cutting device and the component information of the third vector on the Y-axis of the laser cutting device are determined.

[0119] In one exemplary embodiment, the device further includes a vector analysis module, specifically configured to: obtain the second center position information of the marking circle when the rotation angle of the rotation axis of the laser cutting equipment rotates sequentially by a preset angle starting from 0 degrees, and the height of the worktable surface of the laser cutting equipment on the Z-axis is the height information Z1; and use the coordinates of the laser cutting equipment on the X-axis and Y-axis as the X-axis coordinates and Y-axis coordinates of the laser cutting equipment corresponding to the second center position information; when the camera completes positioning of the marking circle, obtain the second coordinates of the center of the marking circle in the image coordinate system; and determine the coordinates of the center of the marking circle in the camera coordinate system based on the second center position information, the second coordinates of the center of the marking circle in the image coordinate system, and the X-axis coordinates and Y-axis coordinates of the laser cutting equipment corresponding to the second center position information; and for The coordinates of the center of the marking circle in the camera coordinate system are fitted to obtain the coordinates of the rotation center of the laser cutting device's rotation axis in the camera coordinate system. Based on the coordinates of the rotation center of the laser cutting device's rotation axis in the camera coordinate system and the position information of the rotation center of the laser cutting device's rotation axis in the probe coordinate system, the component information of the second vector on the X-axis of the laser cutting device and the component information of the third vector on the Y-axis of the laser cutting device are determined. Based on the component information of the second vector on the X-axis and the third vector on the Y-axis of the laser cutting device, and the component information of the third vector on the X-axis and the Y-axis of the laser cutting device, the component information of the first vector on the X-axis and the component information of the third vector on the Y-axis of the laser cutting device are determined.

[0120] Each module in the aforementioned calibration information generation device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the memory of a computer device as software, so that the processor can call and execute the operations corresponding to each module.

[0121] In one exemplary embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 7As shown, the computer device includes a processor, memory, input / output interfaces, a communication interface, a display unit, and an input device. The processor, memory, and input / output interfaces are connected via a system bus, and the communication interface, display unit, and input device are also connected to the system bus via the input / output interfaces. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The input / output interfaces are used for exchanging information between the processor and external devices. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, Near Field Communication (NFC), or other technologies. When the computer program is executed by the processor, it implements a method for generating calibration information. The display unit is used to form a visually visible image and can be a display screen, a projection device, or a virtual reality imaging device. The display screen can be an LCD screen or an e-ink screen. The input device of the computer device can be a touch layer covering the display screen, or buttons, trackballs, or touchpads set on the casing of the computer device, or external keyboards, touchpads, or mice, etc.

[0122] Those skilled in the art will understand that Figure 7 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0123] In one embodiment, a computer device is also provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above method embodiments.

[0124] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon that, when executed by a processor, implements the steps in the above method embodiments.

[0125] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps in the above method embodiments.

[0126] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data must comply with relevant regulations.

[0127] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, artificial intelligence (AI) processors, etc., and are not limited to these.

[0128] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0129] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A method for generating calibration information, characterized in that, The method includes: When the standard ball is within the working surface of the laser cutting equipment, and the rotation axis of the laser cutting equipment rotates sequentially by a preset angle, the position information of the rotation center of the laser cutting equipment in the probe coordinate system and the axial direction vector information are determined according to the position information of the preset detection point on the standard ball. The component information of the first vector, the second vector, and the third vector on the X-axis of the laser cutting device, the component information of the first vector, the second vector, and the third vector on the Y-axis of the laser cutting device, and the component information of the first vector, the second vector, and the third vector on the Z-axis of the laser cutting device are obtained; the first vector is the vector from the probe center to the laser focus of the laser cutting device; the second vector is the vector from the probe center to the camera center; and the third vector is the vector from the camera center to the laser focus of the laser cutting device. Based on the position information of the rotation center of the rotation axis of the laser cutting equipment in the probe coordinate system and the axial direction vector information, the component information of the first vector, the second vector and the third vector on the X-axis of the laser cutting equipment, the component information of the first vector, the second vector and the third vector on the Y-axis of the laser cutting equipment, and the component information of the first vector, the second vector and the third vector on the Z-axis of the laser cutting equipment, calibration information of the laser cutting equipment is generated.

2. The method according to claim 1, characterized in that, The step of obtaining the component information of the first vector, the second vector, and the third vector on the X-axis of the laser cutting equipment, the component information of the first vector, the second vector, and the third vector on the Y-axis of the laser cutting equipment, and the component information of the first vector, the second vector, and the third vector on the Z-axis of the laser cutting equipment includes: When a laser marking plate is set on the worktable of the laser cutting equipment in a direction perpendicular to the Z-axis of the laser cutting equipment, the marking height information corresponding to the marking lines on the laser marking plate is obtained; the marking lines are obtained by the laser cutting equipment laser marking the laser marking plate at different Z-axis positions; With the camera, probe, and laser emitter of the laser cutting device arranged parallel to the Z-axis, the component information of the first vector, the second vector, and the third vector on the Z-axis is determined according to the marking height information. When a marking circle is marked on the laser marking plate, the component information of the first vector, the second vector, and the third vector on the X-axis and the component information of the first vector, the second vector, and the third vector on the Y-axis are determined based on the center position information of the marking circle, the X-axis coordinate of the laser cutting device corresponding to the center position information, and the Y-axis coordinate of the laser cutting device.

3. The method according to claim 1, characterized in that, The step of determining the position information of the rotation center of the laser cutting device's rotation axis in the probe coordinate system and the axial direction vector information based on the position information of the preset detection points on the standard sphere includes: The coordinates of the sphere's center are obtained by fitting the position information of the preset detection points on the standard sphere. By performing spatial circle fitting on the coordinates of the sphere center, the position information of the rotation center of the rotation axis in the probe coordinate system and the axis direction vector information are obtained.

4. The method according to claim 2, characterized in that, Before the step of obtaining the marking height information corresponding to the marking lines on the laser marking plate, the method further includes: When the laser spot formed by the laser emitter of the laser cutting equipment on the laser marking plate is minimized, the height information Z0 of the worktable surface of the laser cutting equipment on the Z-axis is obtained. When the height of the worktable surface of the laser cutting equipment on the Z-axis differs from the height information Z0 by a preset height difference, the height information of the worktable surface of the laser cutting equipment on the Z-axis is obtained as the marking height information corresponding to the marking line on the laser marking plate. When the marking lines on the laser marking plate are clearly imaged within the field of view of the camera, the height information Z1 of the camera on the Z-axis is obtained.

5. The method according to claim 4, characterized in that, The step of determining the component information of the first vector, the second vector, and the third vector on the Z-axis based on the depiction height information includes: The marking height information corresponding to the marking line with the smallest width among the marking lines on the laser marking plate is taken as the height information Z2; Based on the difference between the height information Z2 and the height information Z0, the component information of the first vector on the Z-axis is determined; Based on the difference between the height information Z1 and the height information Z0, the component information of the second vector on the Z-axis is determined; The component information of the third vector on the Z-axis is determined based on the difference between the height information Z2 and the height information Z1.

6. The method according to claim 5, characterized in that, The marking circle is a circle with an area smaller than the field of view of the camera, marked by the laser emitter of the laser cutting equipment on the laser marking plate when the height of the worktable surface of the laser cutting equipment on the Z-axis is the height information Z2. The step of determining the component information of the first vector, the second vector, and the third vector on the X-axis, and the component information of the first vector, the second vector, and the third vector on the Y-axis, based on the center position information of the marking circle, the X-axis coordinate of the laser cutting equipment corresponding to the center position information, and the Y-axis coordinate of the laser cutting equipment, includes: When the height of the worktable surface of the laser cutting equipment on the Z-axis is the height information Z2, the first center position information of the marking circle is obtained; After the calibration of the camera, the probe, and the laser emitter of the laser cutting equipment is completed, the transformation matrix information from the image coordinate system to the camera coordinate system is obtained; After the camera, the probe, and the laser emitter of the laser cutting device are calibrated and the marking circle is within the field of view of the camera, the coordinates of the center of the marking circle on the X-axis and the Y-axis are obtained as the X-axis coordinates and Y-axis coordinates of the laser cutting device corresponding to the first center position information. When the camera has completed positioning of the marked circle, the first coordinates of the center of the marked circle in the image coordinate system are obtained; Based on the transformation matrix information, the first center position information, the first coordinate of the center of the marked circle in the image coordinate system, and the X-axis coordinate and Y-axis coordinate of the laser cutting device corresponding to the first center position information, the component information of the third vector on the X-axis of the laser cutting device and the component information of the third vector on the Y-axis of the laser cutting device are determined.

7. The method according to claim 6, characterized in that, After the step of obtaining the transformation matrix information from the image coordinate system to the camera coordinate system, the method further includes: When the rotation angle of the rotating axis of the laser cutting equipment starts from 0° and rotates sequentially by a preset angle, and the height of the worktable surface of the laser cutting equipment on the Z-axis is the height information Z1, the second center position information of the marking circle is obtained, and the coordinates of the laser cutting equipment on the X-axis and Y-axis are used as the X-axis coordinates and Y-axis coordinates of the laser cutting equipment corresponding to the second center position information. When the camera has completed positioning of the marked circle, the second coordinates of the center of the marked circle in the image coordinate system are obtained; Based on the second center position information, the second coordinate of the center of the marked circle in the image coordinate system, and the X-axis coordinate and Y-axis coordinate of the laser cutting device corresponding to the second center position information, the coordinates of the center of the marked circle in the camera coordinate system are determined. By performing circle fitting on the coordinates of the center of the marked circle in the camera coordinate system, the coordinates of the rotation center of the rotation axis of the laser cutting equipment in the camera coordinate system are obtained. Based on the coordinates of the rotation center of the laser cutting device's rotation axis in the camera coordinate system and the position information of the rotation center of the laser cutting device's rotation axis in the probe coordinate system, the component information of the second vector on the X-axis of the laser cutting device and the component information of the third vector on the Y-axis of the laser cutting device are determined. Based on the component information of the second vector on the X-axis of the laser cutting device and the component information of the third vector on the Y-axis of the laser cutting device, the component information of the first vector on the X-axis of the laser cutting device and the component information of the third vector on the Y-axis of the laser cutting device are determined.

8. A calibration information generation device, characterized in that, The device includes: The rotation axis calibration module is used to determine the position information of the rotation center of the laser cutting equipment in the probe coordinate system and the axis direction vector information based on the position information of the preset detection points on the standard ball when the standard ball is within the working table area of ​​the laser cutting equipment and the rotation axis of the laser cutting equipment rotates sequentially by a preset angle. The component information determination module is used to acquire the component information of the first vector, the second vector, and the third vector on the X-axis of the laser cutting device, the component information of the first vector, the second vector, and the third vector on the Y-axis of the laser cutting device, and the component information of the first vector, the second vector, and the third vector on the Z-axis of the laser cutting device; the first vector is the vector from the probe center to the laser focus of the laser cutting device; the second vector is the vector from the probe center to the camera center; and the third vector is the vector from the camera center to the laser focus of the laser cutting device. The calibration information output module is used to generate calibration information for the laser cutting equipment based on the position information of the rotation center of the rotation axis of the laser cutting equipment in the probe coordinate system and the axial direction vector information, the component information of the first vector, the second vector and the third vector on the X-axis of the laser cutting equipment, the component information of the first vector, the second vector and the third vector on the Y-axis of the laser cutting equipment, and the component information of the first vector, the second vector and the third vector on the Z-axis of the laser cutting equipment.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 7.

11. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 7.

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